// Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <rclcpp/rclcpp.hpp>

#include <memory>

#include "cyberdog_interactive/interactive.hpp"

int main(int argc, char ** argv)
{
  LOGGER_MAIN_INSTANCE("main@interactive");
  INFO("Interactive node started");
  rclcpp::init(argc, argv);
  auto interactive_ptr = std::make_shared<cyberdog::interaction::Interactive>("interactive");
  if (!interactive_ptr->Init()) {exit(-1);}
  INFO("Interactive node is running ...");
  rclcpp::executors::MultiThreadedExecutor exec_;
  exec_.add_node(interactive_ptr->node_ptr_);
  exec_.spin();
  rclcpp::shutdown();
  return 0;
}
